US Patent 9561870 Carrier having non-orthogonal axes

A carrier for a movable object to couple a carried object to the movable object, wherein the carrier has at least two rotational axes; wherein a combined rotation about the at least two rotational axes controls an orientation of the carried object or compensates a movement and a vibration of the movable object, so as to stabilize the carried object; wherein an angle formed by the two rotational axes is a non-right angle to reduce a rotation radius of the rotation, thereby reducing an equivalent moment of inertia; and wherein a center of gravity of a load applied on each axis of the two rotational axes coincides with a corresponding axis.